CN107031805A - A kind of pipe robot suitable for liquid environment - Google Patents

A kind of pipe robot suitable for liquid environment Download PDF

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Publication number
CN107031805A
CN107031805A CN201710234668.6A CN201710234668A CN107031805A CN 107031805 A CN107031805 A CN 107031805A CN 201710234668 A CN201710234668 A CN 201710234668A CN 107031805 A CN107031805 A CN 107031805A
Authority
CN
China
Prior art keywords
liquid environment
control
pipe robot
support
housing
Prior art date
Application number
CN201710234668.6A
Other languages
Chinese (zh)
Inventor
唐杰
李俊辰
区杰勇
徐杰
崔佳骏
Original Assignee
中国民航大学
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 中国民航大学 filed Critical 中国民航大学
Priority to CN201710234668.6A priority Critical patent/CN107031805A/en
Publication of CN107031805A publication Critical patent/CN107031805A/en

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B08CLEANING
    • B08BCLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B9/00Cleaning hollow articles by methods or apparatus specially adapted thereto
    • B08B9/02Cleaning pipes or tubes or systems of pipes or tubes
    • B08B9/027Cleaning the internal surfaces; Removal of blockages
    • B08B9/04Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes
    • B08B9/049Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes having self-contained propelling means for moving the cleaning devices along the pipes, i.e. self-propelled
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B63SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63CLAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
    • B63C11/00Equipment for dwelling or working underwater; Means for searching for underwater objects
    • B63C11/52Tools specially adapted for working underwater, not otherwise provided for
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16LPIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L55/00Devices or appurtenances for use in, or in connection with, pipes or pipe systems
    • F16L55/26Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
    • F16L55/28Constructional aspects
    • F16L55/30Constructional aspects of the propulsion means, e.g. towed by cables
    • F16L55/32Constructional aspects of the propulsion means, e.g. towed by cables being self-contained

Abstract

A kind of pipe robot suitable for liquid environment.It includes housing, battery pack, control device, remote control, propeller, support meanss, vision sensor, small-sized machine arm, direct current generator and display;The pipe robot suitable for liquid environment that the present invention is provided has the advantages that:This pipe robot is operable with hydraulically full horizontal straight tube road or the less pipeline of degree of crook, the outer staff of pipe it can back and forth be walked using remote control control in pipeline, vision sensor passes the image in pipeline back to check the state of inner-walls of duct in real time, and simple cleaning can be completed by small-sized machine arm.In addition, the features such as this pipe robot has simple and practical, light structure, longevity of service.And the work difficulty of tubular service personnel can be greatly reduced, and modularized design, ease of assembly and maintenance are used, can largely it produce.

Description

A kind of pipe robot suitable for liquid environment

Technical field

The invention belongs to underwater robot technical field, more particularly to a kind of pipeline machine suitable for liquid environment People.

Background technology

At present, with the fast development of pipeline industry, test problems are highlighted increasingly inside pipeline.Convey the pipeline of liquid Easily there is the problems such as aging, burn into crackle, foreign matter are adhered in inwall.Traditional pipe outside detection measure can not be to the feelings of inside pipe wall Condition makes accurate assessment, and effective cleaning can not be also carried out to inside pipe wall.And current pipe-line maintenance mode is generally maintenance people Member is safeguarded using manual mode.This maintenance mode is difficult the position for being accurately judged to go wrong inside pipeline, not only Working strength is big, and operating efficiency is extremely low, and needs when safeguarding to block a line, so as to seriously hamper the normal work of pipeline Make.Therefore, it is necessary to design one kind in the case of without prejudice to pipeline normal work, inside pipe wall can be detected and scavenger The robot of work.

The content of the invention

In order to solve the above problems, it is an object of the invention to provide a kind of hydraulically full level is straight or degree of crook Inner-walls of duct is detected in smaller conduit and cleaning robot.

In order to achieve the above object, the pipe robot suitable for liquid environment that the present invention is provided includes housing, battery Group, control device, remote control, propeller, support meanss, vision sensor, small-sized machine arm, direct current generator and display; Wherein housing is threadedly coupled by a hollow hemisphere and a band dome and horizontally disposed hollow cylinder and constituted, hollow Cylinder axially inside provided with two pieces of parallel dividing plates, the inner space of hollow cylinder is thus divided into three parts, its Middle bottom placing battery group;Two direct current generators are placed as power set in middle part, and the output shaft of two direct current generators is equal Outwards set;Top, which is placed, carries signal receiving module on control device, and control device;While the top of hollow cylinder A transparent hollow dome is connected with, inside sets the vision sensor that can be rotated by 360 ° in the horizontal plane;Battery pack with it is straight Motor, control device and vision sensor electrical connection are flowed, for being powered for these parts;Two propellers are respectively positioned at housing Front and back end, propeller hub thereon runs through behind the center of hollow hemisphere or dome behind the inside for extending to housing, and each propeller hub End is connected with the output shaft of a direct current generator;The both sides position of hollow cylinder connects a small-sized machine arm respectively;Shell The front and rear position outer portion of body is not cased with a support meanss;Remote control is hand-held by staff, launches mould with signal thereon Block, and with control device wireless connection;Display is set on the ground, with vision sensor wireless connection.

Described support meanss include support ring, many support frames, multiple springs and multiple bearing pulleies;Wherein support ring It is enclosed on hull outside;Support frame is shaft-like, and the rear end interval of many support frames is hinged on the outer circumference surface of support ring;Every branch The rear end of support is connected with one end of a spring, and the spring other end is fixed on the outer circumference surface of support ring;Every support The front end of frame is respectively mounted a bearing pulley.

Many described support frame equidistantly distributeds in support ring, quantity is 4.

Described spring is coil-type compression springs.

It is threadedly coupled between described hollow dome and hollow cylinder and provided with sealing ring.

Sealing ring is additionally provided between described hollow hemisphere and hollow cylinder.

The pipe robot suitable for liquid environment that the present invention is provided has the advantages that:

Inventive pipeline robot is operable with hydraulically full horizontal straight tube road or the less pipeline of degree of crook, pipe Outer staff it can back and forth be walked using remote control control in pipeline, and the image that vision sensor is passed back in pipeline in real time comes The state of inner-walls of duct is checked, and simple cleaning can be completed by small-sized machine arm.In addition, this pipe robot With simple and practical, light structure, the features such as longevity of service,.And the work difficulty of tubular service personnel can be greatly reduced, and Using modularized design, ease of assembly and maintenance can be produced largely.

Brief description of the drawings

Fig. 1 is the pipe robot external structure schematic diagram suitable for liquid environment that the present invention is provided;

Fig. 2 is the pipe robot internal structure schematic diagram suitable for liquid environment that the present invention is provided;

Fig. 3 is support meanss schematic diagram the pipe robot suitable for liquid environment that the present invention is provided;

Fig. 4 is control system composition frame chart the pipe robot suitable for liquid environment that the present invention is provided.

Embodiment

The pipe robot suitable for liquid environment provided below by combination the drawings and specific embodiments the present invention It is described in detail.

As Figure 1-4, the pipe robot suitable for liquid environment that provides of the present invention including housing 1, battery pack 2, Control device 3, remote control 4, propeller 5, support meanss 6, vision sensor 7, small-sized machine arm 8, direct current generator 14 and aobvious Show device 16;Wherein housing 1 is threadedly coupled and structure by a hollow hemisphere and a band dome and horizontally disposed hollow cylinder Into in hollow cylinder axially inside provided with two pieces of parallel dividing plates 9, thus the inner space of hollow cylinder is divided into Three parts, wherein bottom placing battery group 2;Two direct current generators 14 are placed as power set in middle part, and two direct currents The output shaft of machine 14 is outwards set;Top, which is placed, carries signal receiving module on control device 3, and control device 3;Simultaneously A transparent hollow dome 15 is connected with the top of hollow cylinder, inside sets what can be rotated by 360 ° in the horizontal plane to regard Feel sensor 7;Battery pack 2 is electrically connected with direct current generator 14, control device 3 and vision sensor 7, for being supplied for these parts Electricity;Two propellers 5 are located at the front and back end of housing 1 respectively, and propeller hub thereon extends behind the center of hollow hemisphere or dome To the inside of housing 1, and the rear end of each propeller hub is connected with the output shaft of a direct current generator 14;The both sides of hollow cylinder Position connects a small-sized machine arm 8 respectively;The front and rear position outer portion of housing 1 is not cased with a support meanss 6;Remote control 4 is hand-held by staff, thereon with signal emission module, and with the wireless connection of control device 3;Display 16 is arranged on ground On face, with the wireless connection of vision sensor 7.

Described support meanss 6 include support ring 10, many support frames 11, multiple springs 12 and multiple bearing pulleies 13; Wherein support ring 10 is enclosed on outside housing 1;Support frame 11 is shaft-like, and the rear end interval of many support frames 11 is hinged on support ring 10 Outer circumference surface on;The rear end of every support frame 11 is connected with one end of a spring 12, and the other end of spring 12 is fixed on branch On the outer circumference surface of pushing out ring 10;The front end of every support frame 11 is respectively mounted a bearing pulley 13.

Many described support frames 11 equidistantly distributed in support ring 10, quantity is 4.

Described spring 12 is coil-type compression springs.

It is threadedly coupled between described hollow dome 15 and hollow cylinder and provided with sealing ring.

Sealing ring is additionally provided between described hollow hemisphere and hollow cylinder.

The pipe robot application method suitable for liquid environment that now present invention is provided is described below:

The pipe robot suitable for liquid environment that the present invention is provided is mainly used in detecting inner-walls of duct and letter Single cleaning.Before use, robot is positioned in pipeline, because support meanss 6 are provided with spring 12, in the elastic force of spring 12 Under effect, positioned at the front end of support frame 11 bearing pulley 13 can automatic impaction in inner-walls of duct, be achieved in robot with pipe Road inwall is fitted close, so as to avoid the machine caused by the moment of torsion produced by robot quality itself and direct current generator 14 Device people wild effect in pipeline.Further, since spring 12 has certain deformation quantity, therefore robot is applicable to difference The pipeline of bore.When it is hydraulically full in pipeline or start conveying liquid when, robot is just operable.At this moment outer work people is managed Member can opening remote control device 4, and using remote control 4 by signal emission module to control device 3 send instruct, control device 3 lead to Cross after signal receiving module receives above-mentioned instruction and parsed, then start direct current generator 14, thus drive two spirals Oar 5 is rotated in water, to realize reciprocating motion of the robot in pipeline;Two direct current generators 14 can carry out rotating and tune Rotating speed is saved, robot reciprocal walking at different rates in hydraulically full pipeline is can control;Meanwhile, control visual sensing Device 7 gathered while 360 degree of rotations the image of inner-walls of duct, then gives the image transmitting of collection and sets on the ground Display, robot position in the duct and pipe can be gone out according to the image real-time judge shown on display by managing outer staff The degree of impairment of road inwall, and by control device 3 two small-sized machine arms 8 can be controlled to move, due to small-sized machine arm 8 With three degree of freedom, therefore, it is possible to carry out simple cleaning to inner-walls of duct.If the damage of some inner-walls of duct is compared Seriously, it is impossible to solved by simple cleaning way, the image that the outer staff of pipe can also be passed back by vision sensor 7 is exactly It is determined that there is the position damaged with inner-walls of duct where ging wrong, therefore it can provide strong for the further maintenance of maintainer Help.

Claims (6)

1. a kind of pipe robot suitable for liquid environment, it is characterised in that:The described pipe machine suitable for liquid environment Device people includes housing (1), battery pack (2), control device (3), remote control (4), propeller (5), support meanss (6), vision and passed Sensor (7), small-sized machine arm (8), direct current generator (14) and display (16);Wherein housing (1) by a hollow hemisphere and One is constituted with dome and the threaded connection of horizontally disposed hollow cylinder, and two are axially inside provided with hollow cylinder The parallel dividing plate of block (9), is thus divided into three parts, wherein bottom placing battery group (2) by the inner space of hollow cylinder;In Place two direct current generators (14) and outwards set as power set, and the output shaft of two direct current generators (14) in portion;On Control device (3) is placed in portion, and signal receiving module is carried on control device (3);The top connection of hollow cylinder simultaneously There is a transparent hollow dome (15), inside sets the vision sensor (7) that can be rotated by 360 ° in the horizontal plane;Battery pack (2) electrically connected with direct current generator (14), control device (3) and vision sensor (7), for being powered for these parts;Two spiral shells The front and back end that oar (5) is located at housing (1) respectively is revolved, propeller hub thereon extends to housing behind the center of hollow hemisphere or dome (1) inside, and each the rear end of propeller hub is connected with the output shaft of a direct current generator (14);The both sides of hollow cylinder Position connects a small-sized machine arm (8) respectively;The front and rear position outer portion of housing (1) is not cased with a support means (6);It is distant Control device (4) it is hand-held by staff, thereon with signal emission module, and with control device (3) wireless connection;Display (16) set on the ground, with vision sensor (7) wireless connection.
2. the pipe robot according to claim 1 suitable for liquid environment, it is characterised in that:Described support meanss (6) support ring (10), many support frames (11), multiple springs (12) and multiple bearing pulleies (13) are included;Wherein support ring (10) it is enclosed on housing (1) outside;Support frame (11) is shaft-like, and the rear end interval of many support frames (11) is hinged on support ring (10) Outer circumference surface on;The rear end of every support frame (11) is connected with one end of a spring (12), and spring (12) other end is solid On the outer circumference surface for being scheduled on support ring (10);The front end of every support frame (11) is respectively mounted a bearing pulley (13).
3. the pipe robot according to claim 2 suitable for liquid environment, it is characterised in that:Many described supports Frame (11) equidistantly distributed in support ring (10), quantity is 4.
4. the pipe robot according to claim 2 suitable for liquid environment, it is characterised in that:Described spring (12) For coil-type compression springs.
5. the pipe robot according to claim 1 suitable for liquid environment, it is characterised in that:Described hollow dome (15) it is threadedly coupled and provided with sealing ring between hollow cylinder.
6. the pipe robot according to claim 1 suitable for liquid environment, it is characterised in that:Described hollow hemisphere Sealing ring is additionally provided between hollow cylinder.
CN201710234668.6A 2017-04-12 2017-04-12 A kind of pipe robot suitable for liquid environment CN107031805A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201710234668.6A CN107031805A (en) 2017-04-12 2017-04-12 A kind of pipe robot suitable for liquid environment

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201710234668.6A CN107031805A (en) 2017-04-12 2017-04-12 A kind of pipe robot suitable for liquid environment

Publications (1)

Publication Number Publication Date
CN107031805A true CN107031805A (en) 2017-08-11

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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108180362A (en) * 2018-02-24 2018-06-19 上海彩虹鱼深海装备科技有限公司 A kind of fixing device for glass floating ball
CN108382547A (en) * 2018-02-22 2018-08-10 河海大学常州校区 A kind of robot for underwater works cleaning
CN108543779A (en) * 2018-05-15 2018-09-18 繁昌县通民机械制造有限公司 A kind of pipeline sewage disposal robot
CN108730676A (en) * 2018-03-23 2018-11-02 昆明理工大学 A kind of ball shape robot for pipe detection
CN108971152A (en) * 2018-07-21 2018-12-11 中国海洋石油集团有限公司 A kind of mechanical tube cleaner
CN109945924A (en) * 2019-03-26 2019-06-28 焦作大学 A kind of adjustable spherical housing construction of pipe robot

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN203571334U (en) * 2013-11-11 2014-04-30 江苏师范大学 Pipeline inspection robot propelling mechanism with obstacle removing function
CN103968187A (en) * 2014-04-04 2014-08-06 中国石油大学(华东) Minitype pipeline robot
CN104613275A (en) * 2015-02-13 2015-05-13 山东省水利科学研究院 Pipeline underwater robot detection device
CN204381025U (en) * 2015-01-09 2015-06-10 李艳 Long distance pipeline inwall apparatus for eliminating sludge
CN204901203U (en) * 2015-08-31 2015-12-23 浙江树人大学 Water supply line inner wall sniffing robot
CN205253670U (en) * 2015-12-10 2016-05-25 中国科学院沈阳自动化研究所 Self -propelled pipeline cleaning equipment of remote control
CN106513390A (en) * 2016-12-20 2017-03-22 鞍钢贝克吉利尼水处理有限公司 Pipeline cleaning method and adopted remote control rotary cleaning type pipeline cleaning robot

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN203571334U (en) * 2013-11-11 2014-04-30 江苏师范大学 Pipeline inspection robot propelling mechanism with obstacle removing function
CN103968187A (en) * 2014-04-04 2014-08-06 中国石油大学(华东) Minitype pipeline robot
CN204381025U (en) * 2015-01-09 2015-06-10 李艳 Long distance pipeline inwall apparatus for eliminating sludge
CN104613275A (en) * 2015-02-13 2015-05-13 山东省水利科学研究院 Pipeline underwater robot detection device
CN204901203U (en) * 2015-08-31 2015-12-23 浙江树人大学 Water supply line inner wall sniffing robot
CN205253670U (en) * 2015-12-10 2016-05-25 中国科学院沈阳自动化研究所 Self -propelled pipeline cleaning equipment of remote control
CN106513390A (en) * 2016-12-20 2017-03-22 鞍钢贝克吉利尼水处理有限公司 Pipeline cleaning method and adopted remote control rotary cleaning type pipeline cleaning robot

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108382547A (en) * 2018-02-22 2018-08-10 河海大学常州校区 A kind of robot for underwater works cleaning
CN108180362A (en) * 2018-02-24 2018-06-19 上海彩虹鱼深海装备科技有限公司 A kind of fixing device for glass floating ball
CN108730676A (en) * 2018-03-23 2018-11-02 昆明理工大学 A kind of ball shape robot for pipe detection
CN108543779A (en) * 2018-05-15 2018-09-18 繁昌县通民机械制造有限公司 A kind of pipeline sewage disposal robot
CN108971152A (en) * 2018-07-21 2018-12-11 中国海洋石油集团有限公司 A kind of mechanical tube cleaner
CN109945924A (en) * 2019-03-26 2019-06-28 焦作大学 A kind of adjustable spherical housing construction of pipe robot

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Application publication date: 20170811